UniformValidStateSampler.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/samplers/UniformValidStateSampler.h"
38 #include "ompl/base/SpaceInformation.h"
39 
41  : ValidStateSampler(si), sampler_(si->allocStateSampler())
42 {
43  name_ = "uniform";
44 }
45 
47 {
48  unsigned int attempts = 0;
49  bool valid = false;
50  do
51  {
52  sampler_->sampleUniform(state);
53  valid = si_->isValid(state);
54  ++attempts;
55  } while (!valid && attempts < attempts_);
56  return valid;
57 }
58 
59 bool ompl::base::UniformValidStateSampler::sampleNear(State *state, const State *near, const double distance)
60 {
61  unsigned int attempts = 0;
62  bool valid = false;
63  do
64  {
65  sampler_->sampleUniformNear(state, near, distance);
66  valid = si_->isValid(state);
67  ++attempts;
68  } while (!valid && attempts < attempts_);
69  return valid;
70 }
bool sample(State *state) override
Sample a state. Return false in case of failure.
UniformValidStateSampler(const SpaceInformation *si)
Constructor.
const SpaceInformation * si_
The state space this sampler samples.
bool isValid(const State *state) const
Check if a given state is valid or not.
Abstract definition of a state sampler.
The base class for space information. This contains all the information about the space planning is d...
unsigned int attempts_
Number of attempts to find a valid sample.
Definition of an abstract state.
Definition: State.h:49
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
StateSamplerPtr sampler_
The sampler to build upon.
std::string name_
The name of the sampler.